//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
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//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef HECTOR_POSE_ESTIMATION_HEIGHT_H
#define HECTOR_POSE_ESTIMATION_HEIGHT_H

#include <hector_pose_estimation/measurement.h>

namespace hector_pose_estimation {

class HeightModel : public MeasurementModel_<HeightModel,1> {
public:
  HeightModel();
  virtual ~HeightModel();

  virtual SystemStatus getStatusFlags() { return STATE_POSITION_Z; }

  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);

  void setElevation(double elevation) { elevation_ = elevation; }
  double getElevation() const { return elevation_; }

protected:
  double stddev_;
  double elevation_;
};

extern template class Measurement_<HeightModel>;

class HeightBaroCommon
{
public:
  HeightBaroCommon(Measurement *measurement);
  virtual ~HeightBaroCommon();

  virtual void onReset();
  double resetElevation(const State &state, boost::function<double()> altitude_func);

private:
  bool auto_elevation_;
  bool elevation_initialized_;
};

class Height : public Measurement_<HeightModel>, HeightBaroCommon
{
public:
  Height(const std::string& name = "height") : Measurement_<HeightModel>(name), HeightBaroCommon(this) {}
  virtual ~Height() {}

  void setElevation(double elevation) { getModel()->setElevation(elevation); }
  double getElevation() const { return getModel()->getElevation(); }

  virtual void onReset();
  virtual bool prepareUpdate(State &state, const Update &update);
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_HEIGHT_H
